首页 > 最新文献

Current robotics reports最新文献

英文 中文
Miniaturized Soft Robotics: Recent Advances and Futures Opportunities 微型软机器人:最新进展与未来机遇
Pub Date : 2024-01-31 DOI: 10.1007/s43154-024-00109-3
Wissem Haouas, Michaël Gauthier, K. Rabenorosoa
{"title":"Miniaturized Soft Robotics: Recent Advances and Futures Opportunities","authors":"Wissem Haouas, Michaël Gauthier, K. Rabenorosoa","doi":"10.1007/s43154-024-00109-3","DOIUrl":"https://doi.org/10.1007/s43154-024-00109-3","url":null,"abstract":"","PeriodicalId":93426,"journal":{"name":"Current robotics reports","volume":"378 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140470815","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Recent Developments in Self-Assembling Multi-Robot Systems 自组装多机器人系统的最新进展
Pub Date : 2023-11-24 DOI: 10.1007/s43154-023-00106-y
Edward Bray, Roderich Groß
{"title":"Recent Developments in Self-Assembling Multi-Robot Systems","authors":"Edward Bray, Roderich Groß","doi":"10.1007/s43154-023-00106-y","DOIUrl":"https://doi.org/10.1007/s43154-023-00106-y","url":null,"abstract":"","PeriodicalId":93426,"journal":{"name":"Current robotics reports","volume":"11 33","pages":"101 - 116"},"PeriodicalIF":0.0,"publicationDate":"2023-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139239829","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Multi-Contact Activities by Humanoids 人形机器人的多接触活动
Pub Date : 2023-11-18 DOI: 10.1007/s43154-023-00108-w
Iori Kumagai
{"title":"Multi-Contact Activities by Humanoids","authors":"Iori Kumagai","doi":"10.1007/s43154-023-00108-w","DOIUrl":"https://doi.org/10.1007/s43154-023-00108-w","url":null,"abstract":"","PeriodicalId":93426,"journal":{"name":"Current robotics reports","volume":"57 1","pages":"117 - 125"},"PeriodicalIF":0.0,"publicationDate":"2023-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139262191","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
An Interview with Hugh Herr 休·赫尔的采访
Pub Date : 2023-10-01 DOI: 10.1089/rorep.2023.29005.int
Marwa ElDiwiny
Robotics ReportsVol. 1, No. 1 InterviewOpen AccessCreative Commons licenseAn Interview with Hugh HerrInterview by Marwa ElDiwinyInterview by Marwa ElDiwinyMarwa ElDiwiny, Vrije Universiteit Brussel, Brussels, Belgium. Hugh Herr, Massachusetts Institute of Technology, Cambridge, Massachusetts, USA.Search for more papers by this authorPublished Online:19 Oct 2023https://doi.org/10.1089/rorep.2023.29005.intAboutSectionsPDF/EPUB Permissions & CitationsPermissionsDownload CitationsTrack CitationsAdd to favorites Back To Publication ShareShare onFacebookTwitterLinked InRedditEmail Marwa ElDiwinyMarwa ElDiwiny: I would like to go back to when I think you started your career, and it is very inspirational. I am curious about when you started at age 17 years, what kind of rebirth happened to you to start thinking about new bodies?Hugh Herr: When I was 17 years, I was in a mountain climbing accident and I suffered frostbite to my lower legs. After months of effort, my medical team had to amputate my legs due to the health risk of gangrene. After my legs were amputated, I wanted to return to my chosen sport of mountain climbing, so I designed and fabricated my own artificial limbs for the vertical world. I had specialized limbs for standing on small rock edges, the width of a coin. I had specialized limbs for climbing steep ice walls, and so on. From this body hacking, if you will, I was able to climb at a more advanced level about a year after my legs were amputated than I had achieved before the accident with biological limbs. This was very inspiring, and it led me to my current research objective of human augmentation.Marwa ElDiwiny: I admire being creative. I am curious about this motivation and inspiration to design your own artificial limb. How did you start the design?Hugh Herr: At the time I did not have many resources, and I was not educated in engineering and design, but I was familiar with machining. I spent my high school in a machining curriculum, so I did know my way around a shop. Using passive materials, I fabricated feet, I optimized their geometry, their impedance, their compliance for these various extreme conditions of ice and rock climbing. It worked remarkably well. As I stated, I could climb more difficult faces than I could achieve before the accident. From that experience, I realized that technology has the power to heal, to rehabilitate, and, in my own case, the authority to augment human capability. That inspired me to go back to school and study science and engineering and design.Marwa ElDiwiny: How do you define the relationship between the brain and the body? Should the human body necessarily be the same shape all the time?Hugh Herr: The field of bionics, human bionics seeks to develop synthetic and biological constructs that in the end emulate an anthropomorphic, or normal biological morphology and dynamics. But of course, augmentation is broader than that objective. We can imagine nonanthropomorphic capabilities, humans with t
如果你把大脑和合成肢体双向连接起来,你基本上解决了这个问题,达到了生物系统能够适应的程度,达到了巨大的多功能性。你利用这种智慧,如果你愿意的话,你可以免费得到它。这也是为什么我认为作为一个领域,我们首先需要解决与大脑的接口。一旦我们做到了这一点,我们就可以利用人工智能来增强人类的自然能力。但最重要的是,我们需要一个与大脑的高保真连接。主要的挑战是合成物和生物制剂之间的联系。如果你想从神经中收集信号,运动信号来提取人的运动方式,如果你想将仿生附属物的感觉信息反映到神经系统中,那么与神经组织的实际连接就是一个挑战。过去十年在这方面取得了巨大进展。Marwa ElDiwiny:你认为接下来的设计会有什么样的创意?Hugh Herr:我们的方法被称为神经具体化设计。大多数设计师和仿生学家,他们都在考虑设计一种合成设备,以某种方式连接到身体内部或附着在身体上。他们不考虑从根本上重新设计身体。通过神经具身设计,我们不仅可以设计合成物,还可以设计生物体。我们探索生物设计和合成设计之间的相互作用,试图最大限度地实现大脑和设备之间的双向交流。正因为如此,我们发明了外科手术,我们发明了新的蛋白质来开启和关闭细胞。在所有这些领域,我们都不认为身体是不变的,我们认为身体是一个可以设计的领域。由于这种哲学上的距离,我相信我们正在看到神经接口的巨大成功。Marwa ElDiwiny:你认为下一代外骨骼或假肢的进步应该在哪里?休·赫尔:我对“外骨骼”的定义是一种通常与肢体平行运行的设备,比如你的腿,它包括电机和结构,可以应用于身体上的阻抗、位置和扭矩。外骨骼通常用于人体增强,而矫形器用于医疗目的,用于康复。在外骨骼和医疗假体之间存在着许多相同的挑战。再一次,我们的目标是如何提取人类的意图,人类希望如何移动?你如何将信息插入神经系统,给人脑提供有关机电一体化和生物身体状态的信息?你如何机械地连接到身体上?制造一个能从外部接触我们并施加力和扭矩的外骨骼是非常困难的,因为人类是非常柔软的。你是在推软组织,用这么软的基板很难有效地对身体施加扭矩。这些都是巨大的挑战。正如我所提到的,我的实验室是第一个制造腿部外骨骼的实验室,它可以增强人类的行走和跑步能力。信不信由你,这发生在2014年。一个多世纪以来,科学家和技术人员试图用外骨骼来增强人类,但经历了一次又一次的失败。直到2014年才取得了成功。就像我之前说的,人类非常擅长走路,我们非常擅长移动。制造一台能让我们更高效、更经济的机器,是一项巨大的壮举。Marwa ElDiwiny:你有什么惊喜或意外的时刻吗?休·赫尔:作为一名研究人员,大多数日子都很沮丧,但也有一些日子是神奇的。我的团队发明了一种截肢的新方法,称为激动剂-拮抗剂肌神经界面,简称AMI。在手术中,我们动态连接肌肉,在切除的残肢内创造一个生物关节。我们将传感器连接到这些肌肉上,动态肌肉对来控制仿生肢体。我们的第一个人类病人,在手术后,我们给他接上电线,他很快就能控制仿生脚踝和仿生距下关节。他在移动他的仿生脚踝综合体。我们对此很兴奋,因为这本身就是新奇的。然后他站起来,开始穿过斜坡、台阶和各种不规则的地面。他的合成肢体正在适应地形,就好像他的肢体是生物一样。当我们问他:“你想那样移动你的肢体吗?”他回答说,“不,这是无意识的。”我完全没有意识到这些动作。”那是实验室里非同寻常的一天,因为我们意识到,如果你给大脑自然的本体感受信号,人类的大脑就会确切地知道如何控制合成肢体,就像它是一个天然的生物肢体一样,甚至在人类意识不到运动正在发生的情况下。Marwa ElDiwiny:有时候设计需要权衡取舍。 在设计中是否存在一些限制或权衡?休·赫尔:在我的实验室里,我们的目标不仅是扩展人类的知识,还要最终开发出人类可以用来将想法转化为临床可行技术的技术。这是一个巨大的创新挑战。该设计矩阵不仅包括设备或系统的功能元素,还包括成本和可制造性。比如,设备是否可以报销,设备是否具有通过FDA认证的安全性。建造一个仿生身体部位并将其转化为社会是非常复杂的。我通常要花十年的时间来建造、设计和发射一个仿生身体部位。无论是脚、膝盖、臀部还是其他部位,我通常要花上十年的时间来创新。就是这么难。在这种极其复杂的努力中,需要做出许多权衡。我之前提到过我们的大脑有高度侵入性的接口,也有完全非侵入性的接口,在两者之间是微创的。微创是一种很好的权衡因为你把侵入性降到最低。是的,这需要手术,但这是门诊治疗。监管障碍不大,成本也不大,但信号质量仍然很高。我们确实在权衡中考虑这些最佳点,在那里我们可以拥有高性能,我们也可以以一种非常有效的方式将技术转化为社会。Marwa ElDiwiny:还有哪些东西是你希望自己能设计或制造的,但你可能还没有能力做到的?休·赫尔:没有什么事情是不可能的。唯一不可能的未来是那些违背物理定律的未来。我花了几十年的时间试图翻译技术,尝试创新和失败,直到最近我才成功。翻译技术需要全面的技能,而且需要很多人。它需要许多有创造力的人共同努力,努力工作,使之成为可能。一群拥有共同愿景的人是必不可少的,他们有足够的资金来实现这一目标。Marwa ElDiwiny:你坚持不懈的秘诀是什么?休·赫尔:如果你研究极具创造力、极具创新精神的人和机构,你会发现他们都有某些特点。作为一种自然的力量是一个特点,这意味着永不放弃,坚信你的愿景,你就知道它是可能的,拒绝停止,直到它被解决。另一个特点是具有高度创新和创造力的人,他们没有失败的语言,他们有探索的语言。如果我造了一只仿生脚,我测试了一下,结果失败得很惨,对我来说这不是失败,而是探索。当某些东西出现故障或没有按照预期运行时,您就离解决难题和实现您所寻求的高性能更近了一步。当我造出一个仿生肢体,而它的表现却与我的梦想不一致时,我兴奋得跳上跳下。而其他人可能会说,“哦,我失败了。我想我会放弃的。”对我来说,当它没有表现出来的时候,我离成功更近了。这是令人兴奋的,这是一种探索,这不是失败。Marwa ElDiwiny:从长远来看,你认为再生生物学会成为假肢技术的竞争对手吗?休·赫尔:我的一个朋友是合成生物学家,他说:“休,你为什么要浪费时间用合成材料造四肢?我们为什么不想办法把它们长回来呢?”这是一种过时的观点,因为很快,例如,我们的合成人造肌肉在产生力量和能量使用等方面将远远优于生物肌肉。我不认为天生的生物肢体是我们能做到的最好的。我认为技术将会变得非凡,因此,我们应该继续考虑将电子力学和组织结合起来,因为这最终将在50年内产生最高的性能。Marwa ElDiwiny:为什么我们不能有一个触手状的腿,可以灵活地结束并适应不同的环境?休·赫尔:有各种各样的新奇的感知策略,人们可以想象,并且正在世界各地的实验室中进行研究,许多感知,人工感知有生物对应物,小毛细胞,如果你愿意,是合成的,有点像生物毛细胞的工作,将是一个例子。仿生学是一个很好的研究领域,因为大自然给我们提供了如此巨大的能力,辉煌而美丽的能力,尝试用工程设计来模仿这些能力是非常有趣的。Marwa ElDiwiny:我非常尊重学术界的研究人员,他们试图给人们的生活带来积极的改变。
{"title":"An Interview with Hugh Herr","authors":"Marwa ElDiwiny","doi":"10.1089/rorep.2023.29005.int","DOIUrl":"https://doi.org/10.1089/rorep.2023.29005.int","url":null,"abstract":"Robotics ReportsVol. 1, No. 1 InterviewOpen AccessCreative Commons licenseAn Interview with Hugh HerrInterview by Marwa ElDiwinyInterview by Marwa ElDiwinyMarwa ElDiwiny, Vrije Universiteit Brussel, Brussels, Belgium. Hugh Herr, Massachusetts Institute of Technology, Cambridge, Massachusetts, USA.Search for more papers by this authorPublished Online:19 Oct 2023https://doi.org/10.1089/rorep.2023.29005.intAboutSectionsPDF/EPUB Permissions & CitationsPermissionsDownload CitationsTrack CitationsAdd to favorites Back To Publication ShareShare onFacebookTwitterLinked InRedditEmail Marwa ElDiwinyMarwa ElDiwiny: I would like to go back to when I think you started your career, and it is very inspirational. I am curious about when you started at age 17 years, what kind of rebirth happened to you to start thinking about new bodies?Hugh Herr: When I was 17 years, I was in a mountain climbing accident and I suffered frostbite to my lower legs. After months of effort, my medical team had to amputate my legs due to the health risk of gangrene. After my legs were amputated, I wanted to return to my chosen sport of mountain climbing, so I designed and fabricated my own artificial limbs for the vertical world. I had specialized limbs for standing on small rock edges, the width of a coin. I had specialized limbs for climbing steep ice walls, and so on. From this body hacking, if you will, I was able to climb at a more advanced level about a year after my legs were amputated than I had achieved before the accident with biological limbs. This was very inspiring, and it led me to my current research objective of human augmentation.Marwa ElDiwiny: I admire being creative. I am curious about this motivation and inspiration to design your own artificial limb. How did you start the design?Hugh Herr: At the time I did not have many resources, and I was not educated in engineering and design, but I was familiar with machining. I spent my high school in a machining curriculum, so I did know my way around a shop. Using passive materials, I fabricated feet, I optimized their geometry, their impedance, their compliance for these various extreme conditions of ice and rock climbing. It worked remarkably well. As I stated, I could climb more difficult faces than I could achieve before the accident. From that experience, I realized that technology has the power to heal, to rehabilitate, and, in my own case, the authority to augment human capability. That inspired me to go back to school and study science and engineering and design.Marwa ElDiwiny: How do you define the relationship between the brain and the body? Should the human body necessarily be the same shape all the time?Hugh Herr: The field of bionics, human bionics seeks to develop synthetic and biological constructs that in the end emulate an anthropomorphic, or normal biological morphology and dynamics. But of course, augmentation is broader than that objective. We can imagine nonanthropomorphic capabilities, humans with t","PeriodicalId":93426,"journal":{"name":"Current robotics reports","volume":"202 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135921927","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A Roundtable Discussion with Josie Hughes and Yiğit Mengüç 与Josie Hughes和Yiğit Mengüç的圆桌讨论
Pub Date : 2023-10-01 DOI: 10.1089/rorep.2023.29004.snu
Surya Nurzaman, Josie Hughes, Yig˘it Mengüç
Robotics ReportsVol. 1, No. 1 Roundtable DiscussionOpen AccessCreative Commons licenseA Roundtable Discussion with Josie Hughes and Yiğit MengüçModerator: Surya Nurzaman, Participants: Josie Hughes, and Yig˘it MengüçModerator: Surya NurzamanSurya Nurzaman, Monash University Malaysia, Bandar Sunway, Malaysia.Search for more papers by this author, Participants: Josie HughesJosie Hughes, École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland.Search for more papers by this author, and Yig˘it MengüçYiğit Mengüç, Marble Wit Research, Pittsburgh, Pennsylvania, USA.Search for more papers by this authorPublished Online:19 Oct 2023https://doi.org/10.1089/rorep.2023.29004.snuAboutSectionsPDF/EPUB Permissions & CitationsPermissionsDownload CitationsTrack CitationsAdd to favorites Back To Publication ShareShare onFacebookTwitterLinked InRedditEmail Surya NurzamanJosie HughesYiğit MengüçSurya Nurzaman: Robotics Reports has invited two cochairs of the IEEE technical committee (TC) and soft robotics, which is a nonprofit organization that tries to push forward the field of soft robotics. With us today, we have Josie Hughes and Yiğit Mengüç to discuss the progress and challenges in the soft robotics field. My name is Surya Nurzaman, and I am the editor-in-chief of Robotics Reports, and I will be the moderator of the discussion. I am a senior lecturer at Monash University at the Malaysia campus, and my field is related to soft robotics and bioinspired robotics. Josie and Yiğit, please introduce yourselves and your fields.Josie Hughes: Hi, I am Josie Hughes, and I am an assistant professor at École Polytechnique Fédérale de Lausanne, where I started 2 years ago. My background is in manipulation, soft robotics, and my laboratory, CREATE Lab, looks at developing new design methodologies and fabrication approaches for soft robots that look to exploit interactions with the environment.Surya Nurzaman: Thank you Josie. Yiğit?Yiğit Mengüç: Thank you for organizing, Surya. My name is Yiğit Mengüç and I am currently an independent researcher, I guess I would say, and my background is in mechanical engineering. Formerly, as a professor of my laboratory, I used to work on materials, mechanics, and the manufacturing methods for creating soft robots. Then I worked at Facebook for a few years looking at virtual reality, so wearable soft robots, haptic gloves. Now, I am looking at the relationship between technology and the impact it has on us as individuals and on our communities.Surya Nurzaman: Thank you, Josie and Yiğit. To begin, can you explain how you define soft robots and why it is important?Josie Hughes: Good question to start with. Soft robotics is two things: one, it is a way of technically and from an engineering perspective designing robots that seeks to move away from a paradigm where we have very rigid and precise control to something where we exploit the environment, so this means moving more to soft materials, soft structures, and developing these techno
机器人ReportsVol。1、No. 1圆桌讨论开放获取知识共享许可与Josie Hughes和Yiğit meng<e:1> <e:1> <e:1>圆桌讨论主持人:Surya Nurzaman,参与者:Josie Hughes和yg主持人:Surya Nurzaman,马来西亚莫纳什大学,马来西亚双威城。搜索本文作者的更多论文,参与者:Josie HughesJosie Hughes, École瑞士洛桑理工学院。搜索该作者的更多论文,yg × it MengüçYiğit Mengüç, Marble Wit Research, Pittsburgh, Pennsylvania, USA。搜索本文作者的更多论文发表在线:2023年10月19日https://doi.org/10.1089/rorep.2023.29004.snuAboutSectionsPDF/EPUB权限& CitationsPermissionsDownload CitationsTrack CitationsAdd to favorites返回出版物ShareShare onFacebookTwitterLinked InRedditEmail Surya NurzamanJosie HughesYiğit meng<e:1> <e:1> Surya Nurzaman:《机器人报告》邀请了IEEE技术委员会(TC)和软机器人的两位联合主席,软机器人是一个试图推动软机器人领域发展的非营利组织。今天,我们请到了Josie Hughes和Yiğit Mengüç来讨论软机器人领域的进展和挑战。我的名字是Surya Nurzaman,我是《机器人报告》的主编,我将是这次讨论的主持人。我是莫纳什大学马来西亚校区的高级讲师,我的研究领域与软机器人和仿生机器人相关。乔西和Yiğit,请介绍一下你们自己和你们的专业。乔西·休斯:大家好,我是乔西·休斯,是École洛桑理工学院的助理教授,我两年前开始在这里工作。我的背景是操作,软机器人,我的实验室,CREATE实验室,着眼于开发新的设计方法和制造方法的软机器人,寻求利用与环境的相互作用。Surya Nurzaman:谢谢你,Josie。易ğ吗?Yiğit Mengüç:谢谢你的组织,Surya。我的名字是Yiğit Mengüç,我现在是一名独立研究员,我想我会说,我的背景是机械工程。以前,作为我实验室的教授,我从事制造软机器人的材料、力学和制造方法的研究。然后我在Facebook工作了几年研究虚拟现实,可穿戴的软体机器人,触觉手套。现在,我正在研究技术与它对我们个人和社区的影响之间的关系。Surya Nurzaman:谢谢你,Josie和Yiğit。首先,你能解释一下你是如何定义软机器人的,以及为什么它很重要吗?乔西·休斯:这是个好问题。软机器人有两个方面:一,它是一种技术上的方法,从工程的角度设计机器人,它试图摆脱我们对环境非常严格和精确的控制,所以这意味着更多地转向软材料,软结构,并开发这些技术和控制器。然而,我认为这也是一种心态,就像其他任何事情一样,这是一种接近机器人的学科方式,它从仅仅感知,思考,行动,转向更多的生物启发方法,我们试图开发和理解智能,以及我们如何设计机器人以及行为和智能的出现,更多的是跨学科的方式,我认为这与社区的其他方面非常不同。它给了我们巨大的力量,我们可以用这种不寻常的方式来研究机器人科学。Surya Nurzaman:谢谢你,Josie。易ğ吗?Yiğit Mengüç:我认为这是一个很好的答案,我将以此为基础,因为乔西,我听到你说的是范式差异的概念,我认为这几乎是一种深思熟虑的范式转换方法。这个假设几乎不能被我们任何人检验,这就是为什么这个范式感觉很合适。没有一个人,没有一个实验室可以成功地验证软机器人比刚性机器人更有效的假设,因为每一个刚性机器人都有一个它已经填补的利基它在某些方面比软机器人更好。我们一直在谈论软体机器人在操作、搜索和救援、人际互动方面表现得更好,但在每种情况下,都有一种刚性机器人是从工业过程中出来的,它经过了数千名工程师20年的发展,几乎每次都比我们展示的软体机器人要好。然而,我们一直在这样做,我们的假设不断被证伪,那我们为什么还要继续研究它呢?我认为这是因为这种思维模式的转变和思维方式的不同。
{"title":"A Roundtable Discussion with Josie Hughes and Yiğit Mengüç","authors":"Surya Nurzaman, Josie Hughes, Yig˘it Mengüç","doi":"10.1089/rorep.2023.29004.snu","DOIUrl":"https://doi.org/10.1089/rorep.2023.29004.snu","url":null,"abstract":"Robotics ReportsVol. 1, No. 1 Roundtable DiscussionOpen AccessCreative Commons licenseA Roundtable Discussion with Josie Hughes and Yiğit MengüçModerator: Surya Nurzaman, Participants: Josie Hughes, and Yig˘it MengüçModerator: Surya NurzamanSurya Nurzaman, Monash University Malaysia, Bandar Sunway, Malaysia.Search for more papers by this author, Participants: Josie HughesJosie Hughes, École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland.Search for more papers by this author, and Yig˘it MengüçYiğit Mengüç, Marble Wit Research, Pittsburgh, Pennsylvania, USA.Search for more papers by this authorPublished Online:19 Oct 2023https://doi.org/10.1089/rorep.2023.29004.snuAboutSectionsPDF/EPUB Permissions & CitationsPermissionsDownload CitationsTrack CitationsAdd to favorites Back To Publication ShareShare onFacebookTwitterLinked InRedditEmail Surya NurzamanJosie HughesYiğit MengüçSurya Nurzaman: Robotics Reports has invited two cochairs of the IEEE technical committee (TC) and soft robotics, which is a nonprofit organization that tries to push forward the field of soft robotics. With us today, we have Josie Hughes and Yiğit Mengüç to discuss the progress and challenges in the soft robotics field. My name is Surya Nurzaman, and I am the editor-in-chief of Robotics Reports, and I will be the moderator of the discussion. I am a senior lecturer at Monash University at the Malaysia campus, and my field is related to soft robotics and bioinspired robotics. Josie and Yiğit, please introduce yourselves and your fields.Josie Hughes: Hi, I am Josie Hughes, and I am an assistant professor at École Polytechnique Fédérale de Lausanne, where I started 2 years ago. My background is in manipulation, soft robotics, and my laboratory, CREATE Lab, looks at developing new design methodologies and fabrication approaches for soft robots that look to exploit interactions with the environment.Surya Nurzaman: Thank you Josie. Yiğit?Yiğit Mengüç: Thank you for organizing, Surya. My name is Yiğit Mengüç and I am currently an independent researcher, I guess I would say, and my background is in mechanical engineering. Formerly, as a professor of my laboratory, I used to work on materials, mechanics, and the manufacturing methods for creating soft robots. Then I worked at Facebook for a few years looking at virtual reality, so wearable soft robots, haptic gloves. Now, I am looking at the relationship between technology and the impact it has on us as individuals and on our communities.Surya Nurzaman: Thank you, Josie and Yiğit. To begin, can you explain how you define soft robots and why it is important?Josie Hughes: Good question to start with. Soft robotics is two things: one, it is a way of technically and from an engineering perspective designing robots that seeks to move away from a paradigm where we have very rigid and precise control to something where we exploit the environment, so this means moving more to soft materials, soft structures, and developing these techno","PeriodicalId":93426,"journal":{"name":"Current robotics reports","volume":"126 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135921928","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Blockchain and Emerging Distributed Ledger Technologies for Decentralized Multi-robot Systems 分布式多机器人系统的区块链和新兴分布式账本技术
Pub Date : 2023-09-29 DOI: 10.1007/s43154-023-00101-3
Jorge Peña Queralta, Farhad Keramat, Salma Salimi, Lei Fu, Xianjia Yu, Tomi Westerlund
Abstract Purpose of Review: Distributed ledger technologies (DLTs), particularly blockchain, are paving the way to securing and managing distributed and large-scale systems of autonomous agents. We look into how these technologies are moving out of the lab and into the real world within the robotics field. Recent Findings: Despite the scalability and real-world applicability concerns, new solutions have emerged that show resilience to intermittent connectivity, as well as scalable solutions for managed or permissioned networks. Summary: We present a review on the various use cases that different DLTs can support in multi-robot systems. We argue that the majority of the work to date on open and permissionless blockchains is only applicable to a subset of robotics use cases, with novel DLT architectures and permissioned blockchains driving adoption across industrial and more mature application scenarios.
摘要综述目的:分布式账本技术(dlt),特别是区块链,正在为保护和管理分布式和大规模自治代理系统铺平道路。我们将研究这些技术如何走出实验室,进入机器人领域的现实世界。最近的发现:尽管存在可扩展性和实际适用性方面的问题,但新的解决方案已经出现,这些解决方案显示出对间歇性连接的弹性,以及可扩展的管理或许可网络解决方案。摘要:我们介绍了不同的dlt在多机器人系统中可以支持的各种用例。我们认为,迄今为止关于开放和无许可区块链的大部分工作仅适用于机器人用例的一部分,新颖的DLT架构和许可的区块链推动了工业和更成熟的应用场景的采用。
{"title":"Blockchain and Emerging Distributed Ledger Technologies for Decentralized Multi-robot Systems","authors":"Jorge Peña Queralta, Farhad Keramat, Salma Salimi, Lei Fu, Xianjia Yu, Tomi Westerlund","doi":"10.1007/s43154-023-00101-3","DOIUrl":"https://doi.org/10.1007/s43154-023-00101-3","url":null,"abstract":"Abstract Purpose of Review: Distributed ledger technologies (DLTs), particularly blockchain, are paving the way to securing and managing distributed and large-scale systems of autonomous agents. We look into how these technologies are moving out of the lab and into the real world within the robotics field. Recent Findings: Despite the scalability and real-world applicability concerns, new solutions have emerged that show resilience to intermittent connectivity, as well as scalable solutions for managed or permissioned networks. Summary: We present a review on the various use cases that different DLTs can support in multi-robot systems. We argue that the majority of the work to date on open and permissionless blockchains is only applicable to a subset of robotics use cases, with novel DLT architectures and permissioned blockchains driving adoption across industrial and more mature application scenarios.","PeriodicalId":93426,"journal":{"name":"Current robotics reports","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135243452","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Perception for Humanoid Robots 仿人机器人的感知能力
Pub Date : 2023-09-27 DOI: 10.1007/s43154-023-00107-x
Arindam Roychoudhury, Shahram Khorshidi, Subham Agrawal, Maren Bennewitz
{"title":"Perception for Humanoid Robots","authors":"Arindam Roychoudhury, Shahram Khorshidi, Subham Agrawal, Maren Bennewitz","doi":"10.1007/s43154-023-00107-x","DOIUrl":"https://doi.org/10.1007/s43154-023-00107-x","url":null,"abstract":"","PeriodicalId":93426,"journal":{"name":"Current robotics reports","volume":"31 1","pages":"127 - 140"},"PeriodicalIF":0.0,"publicationDate":"2023-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139335312","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Bioinspired Soft Robotics: State of the Art, Challenges, and Future Directions 仿生软机器人:技术现状、挑战和未来方向
Pub Date : 2023-09-21 DOI: 10.1007/s43154-023-00102-2
Maxwell Hammond, Venanzio Cichella, Caterina Lamuta
{"title":"Bioinspired Soft Robotics: State of the Art, Challenges, and Future Directions","authors":"Maxwell Hammond, Venanzio Cichella, Caterina Lamuta","doi":"10.1007/s43154-023-00102-2","DOIUrl":"https://doi.org/10.1007/s43154-023-00102-2","url":null,"abstract":"","PeriodicalId":93426,"journal":{"name":"Current robotics reports","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136154807","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Autonomous Testing of the Repeatable Healability of Pneumatic Self-Healing Soft Actuators 气动自愈软执行器可重复愈合性的自主测试
Pub Date : 2023-09-01 DOI: 10.1089/rorep.2023.0014
Julie Legrand, Arsen Abdulali, David Hardman, Seppe Terryn, Bram Vanderborght, Fumiya Iida
The maximum number of damage and healing cycles that can be endured by a self-healing (SH) actuator, that is, its repeatable healability, has never been assessed. One reason for this is because healability was always tested manually. Typically, an operator uses a sharp blade to manually damage the actuator and places both damaged edges back together for them to heal. This process is time consuming, which explains why only a limited amount of damage and healing cycles has been reported. Moreover, this leads to an inaccurate estimation of how repeatable the actuator's healability is, since manual damage cannot be always performed at the exact same location. Therefore, we present a method to automatically and autonomously assess the repeatable healability of a soft SH actuator. It uses a robotic system composed of a damage station and a healing station, which the actuator is automatically moved between using a robotic arm. A sensor integrated inside the actuator is used alongside a dedicated characterization algorithm to automatically indicate whether the actuator is properly damaged and healed. We present a typical use case of the system, performing and analyzing 63 damage cycles of a selfhealing Diels–Alder actuator. After 53 cycles, the actuator will never properly heal again, therefore, we consider this cycle to be the maximum repeatable healability of the tested actuator. The healability of the SH Diels–Alder actuator is, therefore, not infinite experimentally.
自愈(SH)致动器所能承受的最大伤害和愈合周期数,即其可重复愈合性,从未被评估过。其中一个原因是,可治愈性总是手动测试的。通常,操作人员使用锋利的刀片手动损坏执行器,并将损坏的边缘放回一起以使其愈合。这个过程很耗时,这就解释了为什么只有有限数量的伤害和治疗周期被报道。此外,由于手动损坏不可能总是在完全相同的位置进行,因此这导致对执行器可重复性的不准确估计。因此,我们提出了一种自动和自主评估软SH致动器可重复愈合性的方法。它采用了一个由损伤站和修复站组成的机器人系统,其中驱动器使用机械臂在两者之间自动移动。执行器内部集成的传感器与专用表征算法一起使用,以自动指示执行器是否被适当损坏和愈合。我们提出了该系统的一个典型用例,执行并分析了自修复Diels-Alder驱动器的63个损坏周期。在53个循环之后,执行器将永远不会再正常愈合,因此,我们认为这个周期是被测执行器的最大可重复愈合能力。因此,在实验中,shdiels - alder致动器的可修复性不是无限的。
{"title":"Autonomous Testing of the Repeatable Healability of Pneumatic Self-Healing Soft Actuators","authors":"Julie Legrand, Arsen Abdulali, David Hardman, Seppe Terryn, Bram Vanderborght, Fumiya Iida","doi":"10.1089/rorep.2023.0014","DOIUrl":"https://doi.org/10.1089/rorep.2023.0014","url":null,"abstract":"The maximum number of damage and healing cycles that can be endured by a self-healing (SH) actuator, that is, its repeatable healability, has never been assessed. One reason for this is because healability was always tested manually. Typically, an operator uses a sharp blade to manually damage the actuator and places both damaged edges back together for them to heal. This process is time consuming, which explains why only a limited amount of damage and healing cycles has been reported. Moreover, this leads to an inaccurate estimation of how repeatable the actuator's healability is, since manual damage cannot be always performed at the exact same location. Therefore, we present a method to automatically and autonomously assess the repeatable healability of a soft SH actuator. It uses a robotic system composed of a damage station and a healing station, which the actuator is automatically moved between using a robotic arm. A sensor integrated inside the actuator is used alongside a dedicated characterization algorithm to automatically indicate whether the actuator is properly damaged and healed. We present a typical use case of the system, performing and analyzing 63 damage cycles of a selfhealing Diels–Alder actuator. After 53 cycles, the actuator will never properly heal again, therefore, we consider this cycle to be the maximum repeatable healability of the tested actuator. The healability of the SH Diels–Alder actuator is, therefore, not infinite experimentally.","PeriodicalId":93426,"journal":{"name":"Current robotics reports","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134993810","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Modeling and Simulation of Dynamics in Soft Robotics: a Review of Numerical Approaches 软机器人动力学建模与仿真:数值方法综述
Pub Date : 2023-08-19 DOI: 10.1007/s43154-023-00105-z
Longhui Qin, Haijun Peng, Xiaonan Huang, Mingchao Liu, Weicheng Huang
{"title":"Modeling and Simulation of Dynamics in Soft Robotics: a Review of Numerical Approaches","authors":"Longhui Qin, Haijun Peng, Xiaonan Huang, Mingchao Liu, Weicheng Huang","doi":"10.1007/s43154-023-00105-z","DOIUrl":"https://doi.org/10.1007/s43154-023-00105-z","url":null,"abstract":"","PeriodicalId":93426,"journal":{"name":"Current robotics reports","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-08-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45576176","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
期刊
Current robotics reports
全部 Acc. Chem. Res. ACS Applied Bio Materials ACS Appl. Electron. Mater. ACS Appl. Energy Mater. ACS Appl. Mater. Interfaces ACS Appl. Nano Mater. ACS Appl. Polym. Mater. ACS BIOMATER-SCI ENG ACS Catal. ACS Cent. Sci. ACS Chem. Biol. ACS Chemical Health & Safety ACS Chem. Neurosci. ACS Comb. Sci. ACS Earth Space Chem. ACS Energy Lett. ACS Infect. Dis. ACS Macro Lett. ACS Mater. Lett. ACS Med. Chem. Lett. ACS Nano ACS Omega ACS Photonics ACS Sens. ACS Sustainable Chem. Eng. ACS Synth. Biol. Anal. Chem. BIOCHEMISTRY-US Bioconjugate Chem. BIOMACROMOLECULES Chem. Res. Toxicol. Chem. Rev. Chem. Mater. CRYST GROWTH DES ENERG FUEL Environ. Sci. Technol. Environ. Sci. Technol. Lett. Eur. J. Inorg. Chem. IND ENG CHEM RES Inorg. Chem. J. Agric. Food. Chem. J. Chem. Eng. Data J. Chem. Educ. J. Chem. Inf. Model. J. Chem. Theory Comput. J. Med. Chem. J. Nat. Prod. J PROTEOME RES J. Am. Chem. Soc. LANGMUIR MACROMOLECULES Mol. Pharmaceutics Nano Lett. Org. Lett. ORG PROCESS RES DEV ORGANOMETALLICS J. Org. Chem. J. Phys. Chem. J. Phys. Chem. A J. Phys. Chem. B J. Phys. Chem. C J. Phys. Chem. Lett. Analyst Anal. Methods Biomater. Sci. Catal. Sci. Technol. Chem. Commun. Chem. Soc. Rev. CHEM EDUC RES PRACT CRYSTENGCOMM Dalton Trans. Energy Environ. Sci. ENVIRON SCI-NANO ENVIRON SCI-PROC IMP ENVIRON SCI-WAT RES Faraday Discuss. Food Funct. Green Chem. Inorg. Chem. Front. Integr. Biol. J. Anal. At. Spectrom. J. Mater. Chem. A J. Mater. Chem. B J. Mater. Chem. C Lab Chip Mater. Chem. Front. Mater. Horiz. MEDCHEMCOMM Metallomics Mol. Biosyst. Mol. Syst. Des. Eng. Nanoscale Nanoscale Horiz. Nat. Prod. Rep. New J. Chem. Org. Biomol. Chem. Org. Chem. Front. PHOTOCH PHOTOBIO SCI PCCP Polym. Chem.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1